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42 lines
1.4 KiB
42 lines
1.4 KiB
4 years ago
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import copy
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import crcmod
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from opendbc.can.can_define import CANDefine
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from selfdrive.car.tesla.values import CANBUS
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class TeslaCAN:
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def __init__(self, dbc_name, packer):
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self.can_define = CANDefine(dbc_name)
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self.packer = packer
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self.crc = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
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@staticmethod
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def checksum(msg_id, dat):
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# TODO: get message ID from name instead
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ret = (msg_id & 0xFF) + ((msg_id >> 8) & 0xFF)
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ret += sum(dat)
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return ret & 0xFF
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def create_steering_control(self, angle, enabled, frame):
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values = {
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"DAS_steeringAngleRequest": -angle,
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"DAS_steeringHapticRequest": 0,
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"DAS_steeringControlType": 1 if enabled else 0,
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"DAS_steeringControlCounter": (frame % 16),
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}
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data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2]
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values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
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return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)
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def create_action_request(self, msg_stw_actn_req, cancel, bus, counter):
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values = copy.copy(msg_stw_actn_req)
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if cancel:
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values["SpdCtrlLvr_Stat"] = 1
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values["MC_STW_ACTN_RQ"] = counter
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data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[2]
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values["CRC_STW_ACTN_RQ"] = self.crc(data[:7])
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return self.packer.make_can_msg("STW_ACTN_RQ", bus, values)
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